mirror of
https://github.com/CloudCompare/PoissonRecon.git
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294 lines
13 KiB
C++
294 lines
13 KiB
C++
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/*
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Copyright (c) 2006, Michael Kazhdan and Matthew Bolitho
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All rights reserved.
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Redistribution and use in source and binary forms, with or without modification,
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are permitted provided that the following conditions are met:
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Redistributions of source code must retain the above copyright notice, this list of
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conditions and the following disclaimer. Redistributions in binary form must reproduce
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the above copyright notice, this list of conditions and the following disclaimer
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in the documentation and/or other materials provided with the distribution.
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Neither the name of the Johns Hopkins University nor the names of its contributors
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may be used to endorse or promote products derived from this software without specific
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prior written permission.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY
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EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO THE IMPLIED WARRANTIES
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OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT
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SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED
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TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR
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BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
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DAMAGE.
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*/
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#ifndef POINT_STREAM_DATA_INCLUDED
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#define POINT_STREAM_DATA_INCLUDED
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#include <algorithm>
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#include "Ply.h"
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template< class Real > using Color = Point< Real , 3 >;
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template< class Real > void SetColorValues( const Color< Real >& color , unsigned char c[3] ){ for( int i=0 ; i<3 ; i++ ) c[i] = (unsigned char)std::max< int >( 0 , std::min< int >( 255 , (int)( color[i]+0.5 ) ) ); }
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template< class Real > void SetColorValues( const Color< Real >& color , RGBColor& c ){ for( int i=0 ; i<3 ; i++ ) c[i] = (unsigned char)std::max< int >( 0 , std::min< int >( 255 , (int)( color[i]+0.5 ) ) ); }
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template< class Real , int Dim >
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struct Normal
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{
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Point< Real , Dim > normal;
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Normal( void ){;}
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Normal( Point< Real , Dim > n ) : normal( n ) {;}
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Normal( const Normal& n ) : normal( n.normal ) {;}
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Normal& operator += ( const Normal& p ){ normal += p.normal ; return *this; }
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Normal& operator -= ( const Normal& p ){ normal -= p.normal ; return *this; }
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Normal& operator *= ( Real s ){ normal *= s ; return *this; }
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Normal& operator /= ( Real s ){ normal /= s ; return *this; }
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Normal operator + ( const Normal& p ) const { return Normal( normal+p.normal ); }
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Normal operator - ( const Normal& p ) const { return Normal( normal-p.normal ); }
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Normal operator * ( Real s ) const { return Normal( normal*s ); }
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Normal operator / ( Real s ) const { return Normal( normal/s ); }
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};
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template< class Real , int Dim >
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struct NormalAndColor
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{
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Point< Real , Dim > normal;
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Color< Real > color;
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NormalAndColor( void ){;}
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NormalAndColor( Point< Real , Dim > n , Color< Real > c ) : normal(n) , color(c) {;}
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NormalAndColor& operator += ( const NormalAndColor& p ){ color += p.color , normal += p.normal ; return *this; }
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NormalAndColor& operator -= ( const NormalAndColor& p ){ color -= p.color , normal -= p.normal ; return *this; }
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NormalAndColor& operator *= ( Real s ){ color *= s , normal *= s ; return *this; }
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NormalAndColor& operator /= ( Real s ){ color /= s , normal /= s ; return *this; }
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NormalAndColor operator + ( const NormalAndColor& p ) const { return NormalAndColor( normal+p.normal , color+p.color ); }
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NormalAndColor operator - ( const NormalAndColor& p ) const { return NormalAndColor( normal-p.normal , color-p.color ); }
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NormalAndColor operator * ( Real s ) const { return NormalAndColor( normal*s , color*s ); }
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NormalAndColor operator / ( Real s ) const { return NormalAndColor( normal/s , color/s ); }
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};
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template< class Real , int Dim >
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struct NormalInfo
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{
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typedef Normal< Real , Dim > Type;
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static Type ReadASCII( FILE* fp )
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{
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float n[3];
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if( fscanf( fp , " %f %f %f " , &n[0] , &n[1] , &n[2] )!=3 ) fprintf( stderr , "[ERROR] Failed to read normal\n" ) , exit( 0 );
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return Type( Point< Real , Dim >( n[0] , n[1] , n[2] ) );
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};
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static bool ReadBinary( FILE* fp , Point< Real , Dim >& p , Type& d )
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{
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struct TypeOnDisk { Point< float , Dim > point , normal; };
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TypeOnDisk t;
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if( fread( &t , sizeof(TypeOnDisk) , 1 , fp )!=1 ) return false;
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p = Point< Real , Dim >(t.point);
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d.normal = Point< Real , Dim >(t.normal);
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return true;
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}
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static void WriteASCII( FILE* fp , const Type& d )
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{
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fprintf( fp , " %f %f %f " , d.normal[0] , d.normal[1] , d.normal[2] );
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};
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static void WriteBinary( FILE* fp , const Point< Real , Dim >& p , const Type& d )
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{
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struct TypeOnDisk { Point< float , Dim > point , normal; };
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TypeOnDisk t;
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t.point = Point< float , Dim >( p ) , t.normal = Point< float , Dim >( d.normal );
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fwrite( &t , sizeof(TypeOnDisk) , 1 , fp );
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}
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static bool ValidPlyProperties( const bool* props )
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{
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if( !( props[0] && props[1] && props[2] ) ) printf( "%s %s %s\n" , props[0] ? "true" : "false" , props[1] ? "true" : "false" , props[2] ? "true" : "false" );
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return ( props[0] && props[1] && props[2] );
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}
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const static PlyProperty PlyProperties[];
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const static int PlyPropertyNum = 3;
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template< class Vertex >
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struct VertexSetter
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{
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static void SetValue( Vertex& v , Real w ){ ; }
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static void SetData ( Vertex& v , const Type& nc ){ ; }
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};
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template< bool HasNormal , bool HasValue , bool HasColor >
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struct VertexSetter< FullPlyVertex< float , Dim , HasNormal , HasValue , HasColor > >
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{
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typedef FullPlyVertex< float , Dim , HasNormal , HasValue , HasColor > Vertex;
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static void SetValue( Vertex& v , Real w ){ if( HasValue ) v.value() = (float)w; }
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static void SetData ( Vertex& v , const Type& nc ){ if( HasNormal ) v.normal() = Point< Real , Dim >( nc.normal ); }
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};
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static Real ProcessDataWithConfidence( const Point< Real , Dim >& p , Type& data )
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{
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Real l = (Real)Length( data.normal );
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if( !l || l!=l ) return (Real)-1.;
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return l;
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}
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static Real ProcessData( const Point< Real , Dim >& p , Type& data )
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{
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Real l = (Real)Length( data.normal );
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if( !l || l!=l ) return (Real)-1.;
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data.normal /= l;
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return (Real)1.;
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}
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struct Transform
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{
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Transform( const XForm< Real , Dim+1 >& xForm ) : _pointXForm( xForm )
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{
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for( int i=0 ; i<Dim ; i++ ) for( int j=0 ; j<Dim ; j++ ) _normalXForm(i,j) = _pointXForm(i,j);
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_normalXForm = _normalXForm.transpose().inverse();
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_normalXForm /= (Real)pow( fabs( _normalXForm.determinant() ) , 1./Dim );
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}
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void operator()( Point< Real , Dim >& p , Type& n ) const { p = _pointXForm * p , n.normal = _normalXForm * n.normal; }
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protected:
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XForm< Real , Dim+1 > _pointXForm;
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XForm< Real , Dim > _normalXForm;
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};
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};
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template<>
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const PlyProperty NormalInfo< float , 3 >::PlyProperties[] =
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{
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{ "nx" , PLY_FLOAT , PLY_FLOAT , int( offsetof( Type , normal.coords[0] ) ) , 0 , 0 , 0 , 0 } ,
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{ "ny" , PLY_FLOAT , PLY_FLOAT , int( offsetof( Type , normal.coords[1] ) ) , 0 , 0 , 0 , 0 } ,
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{ "nz" , PLY_FLOAT , PLY_FLOAT , int( offsetof( Type , normal.coords[2] ) ) , 0 , 0 , 0 , 0 } ,
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};
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template<>
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const PlyProperty NormalInfo< double , 3 >::PlyProperties[] =
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{
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{ "nx" , PLY_FLOAT , PLY_DOUBLE , int( offsetof( Type , normal.coords[0] ) ) , 0 , 0 , 0 , 0 } ,
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{ "ny" , PLY_FLOAT , PLY_DOUBLE , int( offsetof( Type , normal.coords[1] ) ) , 0 , 0 , 0 , 0 } ,
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{ "nz" , PLY_FLOAT , PLY_DOUBLE , int( offsetof( Type , normal.coords[2] ) ) , 0 , 0 , 0 , 0 } ,
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};
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template< class Real , int Dim >
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struct NormalAndColorInfo
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{
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typedef NormalAndColor< Real , Dim > Type;
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static Type ReadASCII( FILE* fp )
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{
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float n[3];
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unsigned char c[3];
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if( fscanf( fp , " %f %f %f %c %c %c " , &n[0] , &n[1] , &n[2] , &c[0] , &c[1] , &c[2] )!=6 ) fprintf( stderr , "[ERROR] Failed to read normal and color\n" ) , exit( 0 );
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return Type( Point< Real , Dim >( n[0] , n[1] , n[2] ) , Color< Real >( (Real)c[0] , (Real)c[1] , (Real)c[2] ) );
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};
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static bool ReadBinary( FILE* fp , Point< Real , Dim >& p , Type& d )
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{
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struct TypeOnDisk
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{
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Point< float , Dim > point;
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Point< float , Dim > normal;
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unsigned char color[3];
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};
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TypeOnDisk t;
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if( fread( &t , sizeof( TypeOnDisk ) , 1 , fp )!=1 ) return false;
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p = Point< Real , Dim >(t.point);
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d.normal = Point< Real , Dim >(t.normal);
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for( int c=0 ; c<3 ; c++ ) d.color[c] = (Real)t.color[c];
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return true;
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}
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static void WriteASCII( FILE* fp , const Type& d )
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{
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unsigned char c[3];
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SetColorValues( d.color , c );
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fprintf( fp , " %f %f %f %d %d %d " , d.normal[0] , d.normal[1] , d.normal[2] , c[0] , c[1] , c[2] );
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};
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static void WriteBinary( FILE* fp , const Point< Real , Dim >& p , const Type& d )
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{
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struct TypeOnDisk
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{
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Point< float , Dim > point;
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Point< float , Dim > normal;
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unsigned char color[3];
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};
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TypeOnDisk t;
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t.point = Point< float , Dim >( p ) , t.normal = Point< float , Dim >( d.normal );
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SetColorValues( d.color , t.color );
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fwrite( &t , sizeof(TypeOnDisk) , 1 , fp );
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}
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static bool ValidPlyProperties( const bool* props ){ return ( props[0] && props[1] && props[2] ) && ( ( props[3] || props[6] ) && ( props[4] || props[7] ) && ( props[5] || props[8] ) ); }
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const static PlyProperty PlyProperties[];
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const static int PlyPropertyNum = 9;
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template< class Vertex >
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struct VertexSetter
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{
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static void SetValue( Vertex& v , Real w ){}
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static void SetData ( Vertex& v , const Type& nc ){}
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};
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template< bool HasNormal , bool HasValue , bool HasColor >
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struct VertexSetter< FullPlyVertex< float , Dim , HasNormal , HasValue , HasColor > >
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{
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typedef FullPlyVertex< float , Dim , HasNormal , HasValue , HasColor > Vertex;
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static void SetValue( Vertex& v , Real w ){ if( HasValue ) v.value() = (float)w; }
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static void SetData ( Vertex& v , const Type& nc )
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{
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if( HasNormal ) v.normal() = Point< Real , Dim >( nc.normal );
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if( HasColor ) SetColorValues( nc.color , v.color() );
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}
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};
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static Real ProcessDataWithConfidence( const Point< Real , Dim >& p , Type& data )
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{
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Real l = (Real)Length( data.normal );
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if( !l || l!=l ) return (Real)-1.;
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return l;
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}
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static Real ProcessData( const Point< Real , Dim >& p , Type& data )
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{
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Real l = (Real)Length( data.normal );
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if( !l || l!=l ) return (Real)-1.;
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data.normal /= l;
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return (Real)1.;
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}
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struct Transform
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{
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Transform( const XForm< Real , Dim+1 >& xForm ) : _pointXForm( xForm )
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{
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for( int i=0 ; i<Dim ; i++ ) for( int j=0 ; j<Dim ; j++ ) _normalXForm(i,j) = _pointXForm(i,j);
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_normalXForm = _normalXForm.transpose().inverse();
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_normalXForm /= (Real)pow( fabs( _normalXForm.determinant() ) , 1./Dim );
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}
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void operator()( Point< Real , Dim >& p , Type& nc ) const { p = _pointXForm * p , nc.normal = _normalXForm * nc.normal; }
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protected:
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XForm< Real , Dim+1 > _pointXForm;
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XForm< Real , Dim > _normalXForm;
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};
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};
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template<>
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const PlyProperty NormalAndColorInfo< float , 3 >::PlyProperties[] =
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{
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{ "nx" , PLY_FLOAT , PLY_FLOAT , int( offsetof( Type , normal.coords[0] ) ) , 0 , 0 , 0 , 0 } ,
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{ "ny" , PLY_FLOAT , PLY_FLOAT , int( offsetof( Type , normal.coords[1] ) ) , 0 , 0 , 0 , 0 } ,
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{ "nz" , PLY_FLOAT , PLY_FLOAT , int( offsetof( Type , normal.coords[2] ) ) , 0 , 0 , 0 , 0 } ,
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{ "r" , PLY_UCHAR , PLY_FLOAT , int( offsetof( Type , color .coords[0] ) ) , 0 , 0 , 0 , 0 } ,
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{ "g" , PLY_UCHAR , PLY_FLOAT , int( offsetof( Type , color .coords[1] ) ) , 0 , 0 , 0 , 0 } ,
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{ "b" , PLY_UCHAR , PLY_FLOAT , int( offsetof( Type , color .coords[2] ) ) , 0 , 0 , 0 , 0 } ,
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{ "red" , PLY_UCHAR , PLY_FLOAT , int( offsetof( Type , color .coords[0] ) ) , 0 , 0 , 0 , 0 } ,
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{ "green" , PLY_UCHAR , PLY_FLOAT , int( offsetof( Type , color .coords[1] ) ) , 0 , 0 , 0 , 0 } ,
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{ "blue" , PLY_UCHAR , PLY_FLOAT , int( offsetof( Type , color .coords[2] ) ) , 0 , 0 , 0 , 0 }
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};
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template<>
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const PlyProperty NormalAndColorInfo< double , 3 >::PlyProperties[] =
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{
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{ "nx" , PLY_FLOAT , PLY_DOUBLE , int( offsetof( Type , normal.coords[0] ) ) , 0 , 0 , 0 , 0 } ,
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{ "ny" , PLY_FLOAT , PLY_DOUBLE , int( offsetof( Type , normal.coords[1] ) ) , 0 , 0 , 0 , 0 } ,
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{ "nz" , PLY_FLOAT , PLY_DOUBLE , int( offsetof( Type , normal.coords[2] ) ) , 0 , 0 , 0 , 0 } ,
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{ "r" , PLY_UCHAR , PLY_DOUBLE , int( offsetof( Type , color .coords[0] ) ) , 0 , 0 , 0 , 0 } ,
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{ "g" , PLY_UCHAR , PLY_DOUBLE , int( offsetof( Type , color .coords[1] ) ) , 0 , 0 , 0 , 0 } ,
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{ "b" , PLY_UCHAR , PLY_DOUBLE , int( offsetof( Type , color .coords[2] ) ) , 0 , 0 , 0 , 0 } ,
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{ "red" , PLY_UCHAR , PLY_DOUBLE , int( offsetof( Type , color .coords[0] ) ) , 0 , 0 , 0 , 0 } ,
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{ "green" , PLY_UCHAR , PLY_DOUBLE , int( offsetof( Type , color .coords[1] ) ) , 0 , 0 , 0 , 0 } ,
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{ "blue" , PLY_UCHAR , PLY_DOUBLE , int( offsetof( Type , color .coords[2] ) ) , 0 , 0 , 0 , 0 }
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};
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#endif // POINT_STREAM_DATA_INCLUDED
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